/**
* @brief Low level serial driver configuration and (re)start.
*
* @param[in] sdp pointer to a @p SerialDriver object
* @param[in] config the architecture-dependent serial driver configuration.
* If this parameter is set to @p NULL then a default
* configuration is used.
*
* @notapi
*/
void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
UNUSED(sdp);
if (config == NULL)
config = &default_config;
IRQ_DISABLE1 = BIT(29);
AUX_ENABLES = 1;
AUX_MU_IER_REG = 0x00;
AUX_MU_CNTL_REG = 0x00;
AUX_MU_LCR_REG = 0x03; // Bit 1 must be set
AUX_MU_MCR_REG = 0x00;
AUX_MU_IER_REG = 0x05;
AUX_MU_IIR_REG = 0xC6;
AUX_MU_BAUD_REG = BAUD_RATE_COUNT(config->baud_rate);
bcm2835_gpio_fnsel(14, GPFN_ALT5);
bcm2835_gpio_fnsel(15, GPFN_ALT5);
GPPUD = 0;
bcm2835_delay(150);
GPPUDCLK0 = (1<<14)|(1<<15);
bcm2835_delay(150);
GPPUDCLK0 = 0;
AUX_MU_CNTL_REG = 0x03;
IRQ_ENABLE1 = BIT(29);
}
/**
* @brief Low level serial driver stop.
* @details De-initializes the USART, stops the associated clock, resets the
* interrupt vector.
*
* @param[in] sdp pointer to a @p SerialDriver object
*
* @notapi
*/
void sd_lld_stop(SerialDriver *sdp) {
UNUSED(sdp);
IRQ_DISABLE1 |= BIT(29);
bcm2835_gpio_fnsel(14, GPFN_IN);
bcm2835_gpio_fnsel(15, GPFN_IN);
}
/**
* @brief Deactivates the I2C peripheral.
*
* @param[in] i2cp pointer to the @p I2CDriver object
*
* @notapi
*/
void i2c_lld_stop(I2CDriver *i2cp) {
/* Set GPIO pin function to default */
bcm2835_gpio_fnsel(GPIO0_PAD, GPFN_IN);
bcm2835_gpio_fnsel(GPIO1_PAD, GPFN_IN);
i2cp->device->control &= ~BSC_I2CEN;
}
/**
* @brief Configures and activates the I2C peripheral.
*
* @param[in] i2cp pointer to the @p I2CDriver object
*
* @notapi
*/
void i2c_lld_start(I2CDriver *i2cp) {
/* Set up GPIO pins for I2C */
bcm2835_gpio_fnsel(GPIO0_PAD, GPFN_ALT0);
bcm2835_gpio_fnsel(GPIO1_PAD, GPFN_ALT0);
uint32_t speed = i2cp->config->ic_speed;
if (speed != 0 && speed != 100000)
i2cp->device->clockDivider = BSC_CLOCK_FREQ / i2cp->config->ic_speed;
i2cp->device->control |= BSC_I2CEN;
}
void _pal_lld_setgroupmode(ioportid_t port, ioportmask_t mask, uint32_t mode) {
int i;
switch (mode) {
case PAL_MODE_INPUT:
set_gpio_in(port, mask);
set_gpio_pud(port, mask, GPIO_PUD_OFF);
break;
case PAL_MODE_INPUT_PULLUP:
set_gpio_in(port, mask);
set_gpio_pud(port, mask, GPIO_PUD_PULLUP);
break;
case PAL_MODE_INPUT_PULLDOWN:
set_gpio_in(port, mask);
set_gpio_pud(port, mask, GPIO_PUD_PULLDOWN);
break;
case PAL_MODE_OUTPUT:
case PAL_MODE_OUTPUT_PUSHPULL:
case PAL_MODE_OUTPUT_OPENDRAIN:
for (i = 0; i < 32; i++) {
unsigned int bit = mask & 1;
if (bit)
bcm2835_gpio_fnsel(i + port->pin_base, GPFN_OUT);
mask >>= 1;
}
break;
}
}
/**
* @brief Configures and activates the PWM peripheral.
*
* @param[in] pwmp pointer to the @p PWMDriver object
*
* @notapi
*/
void pwm_lld_start(PWMDriver *pwmp) {
/* Set PWM pin function.*/
bcm2835_gpio_fnsel(18, GPFN_ALT5);
/* Stop PWM.*/
PWM_CTL = 0 ;
/* Disable clock generator (reset bit 4).*/
GPIO0_CLK_CTL = GPIO_CLK_PWD | 0x01 ;
delayMicroseconds (110) ;
/* Wait for clock to be !BUSY.*/
while ((GPIO0_CLK_CTL & 0x80) != 0);
/* set pwm div to 32 (19.2/32 = 600KHz).*/
GPIO0_CLK_DIV = GPIO_CLK_PWD | (32 << 12);
/* enable clock generator.*/
GPIO0_CLK_CTL = GPIO_CLK_PWD | 0x11;
/* N/M -- N = DATA, M = RANGE.*/
/* M/S -- M = DATA, S = RANGE.*/
PWM0_DATA = 0;
PWM0_RANGE = pwmp->period;
}
static void set_gpio_in(ioportid_t port, ioportmask_t mask) {
int i;
for (i = 0; i < 32; i++) {
unsigned int bit = mask & 1;
if (bit)
bcm2835_gpio_fnsel(i + port->pin_base, GPFN_IN);
mask >>= 1;
}
}
